文章基本信息

标题：A Compound Scheme Based on Improved ADRC and Nonlinear Compensation for Electromechanical Actuator
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作者：Mingyue Zhang ; Qingdang Li
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2022
卷号：11
期号：3
页码：93
DOI：10.3390/act11030093
语种：English
出版社：MDPI Publishing
摘要：A compound scheme, based on an improved active disturbance rejection controller (ADRC) and nonlinear compensation, is developed for the electromechanical actuator (EMA) system in this paper. First, considering the influences of backlash, friction on the EMA system, a model for the EMA system is presented. The LuGre model and Hysteresis inverse model are used to compensate for the friction and backlash phenomenon. Then, the method of improved ADRC, based on the Fal function filter and a Linear extended state observer (LESO), is investigated. Simultaneously, since the controller parameters of the improved ADRC are complicated, the non-dominated sorting genetic algorithm II (NSGA-II) is presented to optimize the controller parameters, to achieve the best dynamic response. Finally, simulation and experiment are presented to validate the effectiveness of the proposed method. Under the nonlinear compensation, the performance of the proposed compound scheme is compared with the conventional proportional integral (PI) controller, in terms of step response analysis and sine wave response analysis. Simulation and experiments show that the proposed controller provides high-performance dynamic characteristics.